EP0679902A2 - Procédé de sélection des signaux de satellites de navigation - Google Patents

Procédé de sélection des signaux de satellites de navigation Download PDF

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Publication number
EP0679902A2
EP0679902A2 EP95104999A EP95104999A EP0679902A2 EP 0679902 A2 EP0679902 A2 EP 0679902A2 EP 95104999 A EP95104999 A EP 95104999A EP 95104999 A EP95104999 A EP 95104999A EP 0679902 A2 EP0679902 A2 EP 0679902A2
Authority
EP
European Patent Office
Prior art keywords
vehicle
signals
antenna
satellites
travel
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP95104999A
Other languages
German (de)
English (en)
Other versions
EP0679902B1 (fr
EP0679902A3 (fr
Inventor
Guenter Dipl.-Ing. Noetzel
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Robert Bosch GmbH
Original Assignee
Robert Bosch GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Robert Bosch GmbH filed Critical Robert Bosch GmbH
Publication of EP0679902A2 publication Critical patent/EP0679902A2/fr
Publication of EP0679902A3 publication Critical patent/EP0679902A3/xx
Application granted granted Critical
Publication of EP0679902B1 publication Critical patent/EP0679902B1/fr
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/35—Constructional details or hardware or software details of the signal processing chain
    • G01S19/36—Constructional details or hardware or software details of the signal processing chain relating to the receiver frond end
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/24—Acquisition or tracking or demodulation of signals transmitted by the system
    • G01S19/28—Satellite selection
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position

Definitions

  • the invention is based on a method or a receiving device for the selection of received signals from navigation satellites, for example the GPA, GLONASS or similar satellite systems according to the category of the independent claims 1 and 6.
  • the signals of several satellites are evaluated for the current position determination, orbiting the earth on certain predetermined orbits.
  • a receiver can determine the exact distance to the satellite whose current position in the receiver is known (for example, by information that is transmitted from the satellite to the receiver). Knowing the position of three satellites and the distance to them is enough to clearly determine the location of the receiver down to a few meters. If the receiver is located in a motor vehicle, for example, which partially obscures the reception area by vehicle parts, then not all satellites that appear suitable for determining the position can be received.
  • the method according to the invention or the receiving device according to the independent claims 1 and 6 has the advantage that only those signals are actually evaluated whose satellites are in the field of view of the antenna and whose signals therefore fall directly on the antenna.
  • the reflected signals from satellites that are not in the field of view of the antenna are suppressed. This advantageously increases the reliability of the position determination.
  • the viewing area is optimized by comparing a newly determined viewing area with the previous, saved viewing area in the case of repeated measurements, so that the largest possible viewing area depending on the direction of travel is determined by several measurement attempts.
  • the receivable satellites are determined by their orbits, depending on the direction of travel, only very specific satellites can be received at a certain point in time. To determine the direction of travel of the vehicle vehicle sensors or a corresponding compass are therefore advantageously used. However, it is also possible to derive the direction of travel from the satellite signals themselves, for example by evaluating the Doppler shift in the carrier frequency.
  • a GPS receiver is advantageously used for map-based navigation in order to control or, if necessary, correct the position of the vehicle navigation device.
  • An advantageous installation location for the antenna of a GPS receiver is, for example, inside the vehicle in the area of the rear or front window.
  • the antenna can also be concealed under the parcel shelf or the dashboard, so that it is not visible and is therefore also protected from damage.
  • FIG. 1 shows a schematic arrangement of the antenna in a vehicle
  • FIG. 2 shows a projection of a viewing area
  • FIG. 3 shows a block diagram of a GPS receiver.
  • FIG 1 shows schematically the arrangement of an antenna 10 in a vehicle 14.
  • the vehicle parts 12 are shown as a roof and tailgate.
  • a rear window 13 can be seen, behind which an antenna 10 of a GPS receiver 22 is arranged, for example on a rear shelf 17.
  • the antenna 10 is partially shaded by the vehicle parts 12, so that a limited by the rear window or windshield 13 Viewing area B results. Signals from the subsequent areas A, C cannot be received by the antenna 10 because the vehicle parts 12 shield the signals.
  • the antenna 10 can thus receive the signals from the GPS satellites that are in the viewing area B. In this viewing area B, of course, there are also signals that are sent from satellites located outside this viewing area, but whose signals are on house walls, mountains and the like. ⁇ . are reflected. These signals distort the position determination and are therefore not desirable.
  • a GPS receiver 22 is shown schematically in FIG. 1, which has a control 20 and a corresponding data output 21.
  • the controller is preferably connected to one or more wheel sensors 15 or a compass 16.
  • the wheel sensors 15 or the compass 16 can thus enter the direction of travel or the north direction of the vehicle into the GPS receiver 22.
  • the GPS receiver 22 is known per se and therefore need not be described in detail. Instead of the wheel sensors 15, suitable inertial sensors (gyrometers) can also be used.
  • the direction of travel can also be determined from the satellite signals by measuring the Doppler shift or the carrier phase.
  • FIG. 2 shows the projection of a viewing area B, which is delimited by curve 30.
  • the curve 30 shows the viewing area B for the selected arrangement of the antenna 10 behind the window 13.
  • the vehicle 14 is located in the middle of the axis cross N, O, S, W and travels in the direction of travel D. Circles are shown in dashed lines around the vehicle that correspond to the elevation angles 30 °, 60 ° and 90 °.
  • navigation satellites 1 to 7, which orbit the earth are arranged schematically in the axis cross. The satellites have elevation angles between 30 ° and 90 °.
  • satellites 1 and 3 are located in the west-north-west and south-east direction with 60 ° elevation, satellites 2 and 4 have an elevation of 40 ° to 50 ° and satellites 5, 6 and 7 are low with an elevation of less than 30 °.
  • a maximum of satellites 1 to 5 can thus be received directly, while satellites 6 and 7 cannot be received or can only be received indirectly.
  • the reception quality is still dependent on the position relative to the receiving antenna 10, so that not all of these five satellites are generally used to evaluate its signals.
  • FIG. 3 schematically shows the controller 20 of a GPS receiver 22.
  • the antenna 10 is connected to a decoder 31 on this receiver, which forwards the decoded signals to an evaluation 32.
  • the evaluation 32 has a first memory area 33, in which the code names of the receivable satellites and their orbits are stored. Furthermore, the evaluation 32 is connected to a second storage area 34, in which viewing areas B of the antenna 10 which are dependent on the direction of travel are stored.
  • the vehicle 14 is located in the center of the coordinate and travels in the direction of travel D according to the dashed arrow. It can thus be seen from the viewing area B that the vehicle device receives the satellites 1 to 5 directly, since these satellites are in the viewing area to the antenna 10. It is further assumed that the signals in areas A or C are also received by satellites 6 and 7, since their signals are reflected in the viewing area B by reflection.
  • the GPS receiver 22 cannot distinguish itself as to whether the signals from the satellites 1 to 7 come in directly or indirectly.
  • the direction of travel D of the vehicle 14 is first calculated.
  • the evaluation 32 now takes the corresponding values for the visual range B from the second memory 34, which values have previously been determined empirically and stored as a function of the direction of travel.
  • the names and the orbits are stored in the first storage area 33, so that it can be determined at a certain point in time which of the stored satellites are currently in the viewing area B of the vehicle.
  • the evaluation 32 determines, for example, that the satellites 1 to 5 are currently in the viewing area B. It can thus use their signals jointly or partially to determine the position.
  • the indirectly incident signals from satellites 6 and 7 are suppressed.
  • the position of the viewing area B relative to the satellites also changes. If necessary, other satellites can now be received in the new viewing area, so that the directly incident signals must be selected again from the received signals.
  • the viewing area B is determined by the spatial arrangement of the antenna 10 in the vehicle 14. It results from the volume that is formed from the height angle and the wide angle. Since the satellite signal can be deflected by diffraction and reflection in the border area to the vehicle parts 12, an optimization of the viewing area B is provided. In principle, the field of vision can be determined empirically for each direction of travel and the corresponding values can be stored in the second memory 34. For optimization, it is advantageous to carry out several reception measurements of the satellites while traveling in the same direction, if possible in a low-reflection area. The signals from those satellites that are currently in viewing range B are decoded. When driving in the same Direction, these satellites can be received for a certain time.
  • Indirectly incoming signals can fail to appear or can only be received very weakly.
  • an optimal range for the reception range B can be determined, which is possibly smaller than the range delimited by the vehicle parts 12.
  • the viewing area B thus optimized is then used for the further selection of the satellite signals.
  • the entire reception area is divided into sub-areas with the parameters elevation and angle relative to the direction of travel.
  • a counting cell is assigned to each of these segments. If a satellite is expected in a segment based on its current position and the current direction of travel, but cannot be received, the associated counting cell is counted down, but if it is received as expected, it is counted up. The counter readings of the individual segments are converted into a relative value with the number of counts carried out in the partial area.
  • a threshold value can then be defined (eg 75%) that provides information about whether a segment is in the field of view or outside. This is explained in more detail using an example. According to FIG.
  • the satellite 6 has the direction angle (azimuth angle) ⁇ ⁇ 290 ° and the elevation angle ⁇ 6 ⁇ 15 °.
  • the relative position of the satellite 6 to the vehicle antenna 10 is therefore 325 ° / 15 °.
  • the reception area B is divided into predetermined sub-areas. However, since the 325 ° / 15 ° position does not fall in any section, a count is counted down for each section.
EP95104999A 1994-04-29 1995-04-04 Procédé de sélection des signaux de satellites de navigation Expired - Lifetime EP0679902B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE4415083 1994-04-29
DE4415083A DE4415083A1 (de) 1994-04-29 1994-04-29 Verfahren zur Selektion von Signalen von Navigationssatelliten

Publications (3)

Publication Number Publication Date
EP0679902A2 true EP0679902A2 (fr) 1995-11-02
EP0679902A3 EP0679902A3 (fr) 1995-11-22
EP0679902B1 EP0679902B1 (fr) 2003-08-20

Family

ID=6516835

Family Applications (1)

Application Number Title Priority Date Filing Date
EP95104999A Expired - Lifetime EP0679902B1 (fr) 1994-04-29 1995-04-04 Procédé de sélection des signaux de satellites de navigation

Country Status (4)

Country Link
US (1) US5589836A (fr)
EP (1) EP0679902B1 (fr)
JP (1) JP3631799B2 (fr)
DE (2) DE4415083A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP4036324A4 (fr) * 2019-09-26 2023-10-04 Hitachi Construction Machinery Co., Ltd. Engin de chantier

Families Citing this family (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2324218A (en) * 1997-04-09 1998-10-14 Ico Services Ltd Satellite acquisition in navigation system
DE19856187A1 (de) * 1998-12-05 2000-06-15 Alcatel Sa Satellitengestütztes map-matching-Verfahren
GB2379112B (en) * 2001-03-28 2003-10-15 Comm Res Lab Method for acquiring azimuth information
GB2378835B (en) * 2001-03-28 2003-10-15 Comm Res Lab Method for acquiring azimuth information
JP4088490B2 (ja) * 2002-07-25 2008-05-21 株式会社エヌ・ティ・ティ・ドコモ 移動体の測位装置及び測位方法
KR101154079B1 (ko) 2005-02-16 2012-06-11 삼성전자주식회사 네비게이션 장치의 초기 위치 결정 방법
JP5425039B2 (ja) * 2010-11-02 2014-02-26 株式会社豊田中央研究所 衛星信号判定装置及びプログラム
CA2829464A1 (fr) * 2011-04-28 2012-11-01 Topcon Positioning Systems, Inc. Detection et determination de la position d'un objet au moyen de signaux gnss reflechis
JP6495664B2 (ja) * 2015-01-19 2019-04-03 古野電気株式会社 方位算出装置、方位算出方法、方位算出プログラム、および、移動体
JP2016217710A (ja) * 2015-05-14 2016-12-22 株式会社東芝 列車位置検知装置、及び方法
DE102017204321A1 (de) 2017-03-15 2018-09-20 Robert Bosch Gmbh Verfahren und Vorrichtung zum Filtern von empfangenen Satellitennavigationssignalen
DE102017204615A1 (de) 2017-03-20 2018-09-20 Robert Bosch Gmbh Verfahren und Vorrichtung zur Positionsbestimmung und zum Bestimmen eines Laufzeitverlängerungsanteils
JP6961636B2 (ja) * 2019-03-01 2021-11-05 日立建機株式会社 作業機械

Citations (4)

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Publication number Priority date Publication date Assignee Title
US4899285A (en) * 1986-06-26 1990-02-06 Nissan Motor Company, Limited System and method for measuring a position of a moving object with a hybrid navigation apparatus
DE4002176A1 (de) * 1989-01-26 1990-08-02 Nissan Motor Gps-navigationseinrichtung fuer ein fahrzeug
US4949268A (en) * 1987-09-22 1990-08-14 Kabushiki Kaisha Toyota Chuo Kenkyusho Land vehicle navigation system
DE4142403A1 (de) * 1990-12-27 1992-07-02 Nippon Denso Co Schwundminderndes globales positionsbestimmungssystem fuer kraftfahrzeuge

Family Cites Families (4)

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Publication number Priority date Publication date Assignee Title
US4912645A (en) * 1987-03-26 1990-03-27 Mazda Motor Corporation Automotive navigation system
US5185610A (en) * 1990-08-20 1993-02-09 Texas Instruments Incorporated GPS system and method for deriving pointing or attitude from a single GPS receiver
JPH0739960B2 (ja) * 1991-06-18 1995-05-01 住友電気工業株式会社 位置検出装置
US5446465A (en) * 1993-06-18 1995-08-29 Diefes; Debra L. Satellite location and pointing system for use with global positioning system

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4899285A (en) * 1986-06-26 1990-02-06 Nissan Motor Company, Limited System and method for measuring a position of a moving object with a hybrid navigation apparatus
US4949268A (en) * 1987-09-22 1990-08-14 Kabushiki Kaisha Toyota Chuo Kenkyusho Land vehicle navigation system
DE4002176A1 (de) * 1989-01-26 1990-08-02 Nissan Motor Gps-navigationseinrichtung fuer ein fahrzeug
DE4142403A1 (de) * 1990-12-27 1992-07-02 Nippon Denso Co Schwundminderndes globales positionsbestimmungssystem fuer kraftfahrzeuge

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP4036324A4 (fr) * 2019-09-26 2023-10-04 Hitachi Construction Machinery Co., Ltd. Engin de chantier

Also Published As

Publication number Publication date
EP0679902B1 (fr) 2003-08-20
EP0679902A3 (fr) 1995-11-22
JPH07325141A (ja) 1995-12-12
DE59510767D1 (de) 2003-09-25
US5589836A (en) 1996-12-31
JP3631799B2 (ja) 2005-03-23
DE4415083A1 (de) 1995-11-02

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